Switching Feedback Control of Non-holonomic Systems with Multi-generators
نویسنده
چکیده
Abstract: In this paper, we propose a switching state feedback control algorithm for a class of non-holonomic symmetric affine systems with multi-generators. The controllability Lie algebra of a multi-generator system is structurally different from that of single-generator systems, such as conventional chained form systems. A multi-generator dynamics is partially considered a single-generator system and each subsystem can be stabilized by any existing controller proposed for chained systems. We propose a switching control algorithm, in that each generator is chosen in sequence and corresponding sub-controllers are applied, where each sub-controller is designed by existing methods for chained systems. The efficiency of the proposed strategy is evaluated via numerical simulations. Copyright c ©2002 IFAC
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